diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 3a3f3c8..1be12ca 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -42,6 +42,8 @@
 
       drivetrain::kHighGearRatio,
       drivetrain::kLowGearRatio,
+      drivetrain::kJ,
+      drivetrain::kMass,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
       true /* default_high_gear */,